public AppVM()
{
server = new Server();
server.SensorAdded += OnSensorAdded;
// setup sensor-bone links
SensorBoneMap = new SensorBoneMap();
sensorBoneLinkVMs = new Dictionary <SensorBoneLink, SensorBoneLinkVM>();
SensorBoneMap.LinkAdded += (link) =>
{
sensorBoneLinkVMs.Add(link, new SensorBoneLinkVM(link, sensorVMs[link.Sensor], Kinematic.BoneVMMap[link.Bone]));
RootVisual3D.Children.Add(sensorBoneLinkVMs[link].Visual);
};
SensorBoneMap.LinkRemoved += (link) =>
{
RootVisual3D.Children.Remove(sensorBoneLinkVMs[link].Visual);
sensorBoneLinkVMs.Remove(link);
};
// setup sensors collection
sensors = new ObservableCollection <SensorVM>();
sensorVMs = new Dictionary <Sensor, SensorVM>();
Sensors = new ReadOnlyObservableCollection <SensorVM>(sensors);
foreach (var item in server.Sensors.Values)
{
sensors.Add(new SensorVM(item));
sensorVMs.Add(item, sensors.Last());
}
// setup kinematic chain
Kinematic = new KinematicVM(new KinematicStructure());
// setup animator
Animator = new KinematicAnimatorVM(Kinematic, new MotionData());
// setup commands
LoadBVHFileCommand = new RelayCommand <string>(LoadBVHFile);
SaveBVHFileCommand = new RelayCommand <string>(SaveBVHFile);
AssignSensorToBoneCommand = new RelayCommand <Tuple <BoneVM, SensorVM> >(AssignSensorToBone);
StartCaptureCommand = new RelayCommand(StartCapture, CanStartCapture);
StopCaptureCommand = new RelayCommand(StopCapture, CanStopCapture);
SetBaseRotationCommand = new RelayCommand(SetBaseRotation);
StartSensorCalibrationCommand = new RelayCommand <SensorBoneLinkVM>(StartSensorCalibration, CanStartSensorCalibration);
StopSensorCalibrationCommand = new RelayCommand(StopAxisCalibration);
// ui update timer
refreshTimer = new DispatcherTimer(DispatcherPriority.Background);
refreshTimer.Interval = TimeSpan.FromMilliseconds(30);
refreshTimer.Start();
refreshTimer.Tick += OnRefreshTick;
}
/// <summary>
/// is called by the refreshTimer. Raises UI updates
/// </summary>
private void OnRefreshTick(object sender, EventArgs e)
{
foreach (var item in Sensors)
{
item.Refresh();
}
foreach (var item in sensorBoneLinkVMs.Values)
{
item.Refresh();
}
if (State == AppState.Running)
{
var orientations = SensorBoneMap.GetCalibratedSensorOrientations();
Kinematic.Model.ApplyWorldRotations(orientations);
}
Kinematic.Refresh();
}
/// <summary>
/// assign a sensor to a bone
/// </summary>
private void AssignSensorToBone(Tuple <BoneVM, SensorVM> pair)
{
var bone = pair.Item1;
var sensor = pair.Item2;
SensorBoneLink newLink = null;
if (sensor == null)
{ //remove existing links
SensorBoneMap.RemoveLink(bone.Model);
}
else
{ //add new link
newLink = SensorBoneMap.CreateLink(bone.Model, sensor.Model);
}
if (newLink != null)
{
bone.SensorBoneLink = sensorBoneLinkVMs[newLink];
}
}
